CN104440920B - A kind of Three Degree Of Freedom human arm tremor motion simulation machine people - Google Patents
A kind of Three Degree Of Freedom human arm tremor motion simulation machine people Download PDFInfo
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Abstract
The invention discloses a kind of Three Degree Of Freedom human arm tremor motion simulation machine people, this robot comprises arm tremor simulation system, excitation system of trembling, the movement detection systems that trembles, signal transacting and control system.The present invention proposes a kind of robot device utilizing mechanical mechanism to simulate human arm tremor motion.During the work of arm tremor simulation system, the movement detection systems sensing arm that trembles trembles the movable information of simulation system, verifies whether consistent existing " trembling " motion moves with " the trembling " required by control algolithm; By the effect of signal transacting and control system, amplitude and the frequency of arm tremor simulation system can be changed, make this robot produce required for motion of trembling.Efficiently solve the problem repeatedly cannot verifying the strategy that trembles for safety and technical reason the patient that to tremble really with it, the research for the new suppression strategy that trembles has important effect.
Description
Technical field
The invention belongs to medical robot field, experimental robot field, specifically referring to a kind of full driving simulation robot platform of Three Degree Of Freedom for imitating human arm tremor motion.
Background technology
Trembling is a kind of involuntary, limb motion of having rhythmicity, near sinusoidal reciprocating swing.The elderly of more than 40 years old has the people of 5% to suffer from disease of trembling, and particularly Parkinson's disease is the common disease that nearly ten or twenty annual morbidity is in rising trend, the every 100,000 people west 106-307 people of illness rate, Asia is 44-82 people, African 31-58 people, and in more than 60 years old crowd, the illness rate of PD about reaches 1%.Tremble limbs particularly arm that is common and people, affects fine movement, writes and food and drink, can bring inconvenience time serious to the daily life of patient, work, social interaction etc.Although lot of domestic and international research institution is to trembling research a lot of year at present, generally speaking, there are the following problems: 1. the mechanism owing to trembling at present is not yet clear and definite so far with origin, mostly adopts exploratory mode, cannot fundamentally cure for the treatment of trembling; 2. though various medicine can make the to tremble clinical symptoms of patient obtain improvement to a certain degree within a certain period of time, all can not stop naturally being in progress of this disease, and various medicine there is side reaction in various degree, thus limit himself application clinically; 3. current, some comparatively advanced therapies are still in conceptual phase, although experiment proves the clinical remission rate that significantly can improve this disease, decrease side effect, also there is expensive, the late result still problem such as difficult affirmative.
Research shows, except routine medication, it is suppress the effective measures of moving of trembling that Biological Strength loads (biomechanicalloading), FNS (Functionalneuromuscularstimulations, FNS) technology and rehabilitation training etc.The braking measure of trembling loaded based on Biological Strength increases patient's arm damping and inertia by controlling external loading, reaches the object eliminating or suppress to tremble.
The research of the braking measure of trembling carried out from the angle of non-pharmacological mainly concentrate on motion of trembling " presentation "---tremble signal.Requirement of experiment for security and the suppression strategy that trembles is considered, needs here to design a kind of robot device that can simulate human arm tremor motion, for simulating arm tremor motion.The object and the advantage that design this device are: 1) by controlling the rotating speed of motor, can regulate tremor amplitude and the frequency of artificial limb arm, the motion of trembling of simulation optional frequency; 2) by the additional suppression signal that trembles, tremor amplitude and the frequency of artificial limb arm can be changed, to tremble the validity of braking measure and security with checking, effectively to solve because safety and technical reason repeatedly cannot verify the problem of the strategy that trembles with it the patient that to tremble really.
JamesZ, Zhang, in " DetectionofInvoluntaryHumanHandMotionsUsingEmpiricalMode DecompositionandHilbert – HuangTransform " article, design a kind of arm tremor analog platform of two-freedom, mainly contain three part compositions: tremble simulative generator, sensor interface and data acquisition unit.Tremble simulative generator for generation of arm tremor signal, and with 3 axle acceleration sensor networks.In order to the motion of trembling of emulation arm, this assembling mainly utilizes the pushing-type electromagnet being arranged on arm side to simulate motion of trembling.But due to the defect in design, this arm tremor analog platform exists following shortcoming: the arm tremor motion that both direction 1) can only be imitated, to the analytical work imperfection of motion of trembling; 2) owing to only having installed acceleration transducer to gather motor message, the performance characteristic of the motor message that causes trembling is too single.
Applicant in " human arm tremor based on exoskeleton robot technology suppresses key technology research " in a literary composition, devises a kind of human body of can simulating and to tremble the robot device of motion.This platform can realize the arm motion of two-freedom, can produce the motion of trembling of frequency 1-20HZ.The advantage of this platform is: by controlling the rotating speed of motor, can regulate tremor amplitude and the frequency of artificial limb arm, the motion of trembling of simulation optional frequency.But due to the limitation that mechanical device is arranged, this platform can only imitate forearm and move up and down and the medial rotation/move outward of forearm.This causes it to the emulation imperfection of motion of trembling.
Summary of the invention
For Problems existing and the deficiency of existing " non-pharmacological " arm tremor suppression strategy, the present invention discloses a kind of Three Degree Of Freedom human arm tremor signal simulation robot, when a certain suppression strategy that trembles carries out human experimentation, first in this robot, emulation experiment is carried out, the correctness of the method can be verified, the security of the method can be improved again, solve and when carrying out trembling suppression strategy checking, to need multi collect to tremble the problem of patient's arm tremor signal, substantially reduce the flow of research of new method.
Technical scheme of the present invention is: a kind of Three Degree Of Freedom human arm tremor motion simulation machine people, comprises arm tremor simulation system, excitation system of trembling, the movement detection systems that trembles, signal transacting and control system; Arm tremor simulation system comprises workbench, twist mechanism, forearm up-down mechanism and forearm rotating mechanism inside and outside the artificial limb arm be located on workbench, forearm; Excitation system of trembling comprises the direct current motor system A for realizing twist motion inside and outside forearm, for realizing direct current motor system B that forearm moves up and down and the direct current motor system C for realizing forearm rotary motion; The movement detection systems that trembles comprises three dimension acceleration sensor and artificial limb arm inertial sensor unit, is arranged on finger and the upper arm of artificial limb respectively; Signal transacting and control system are fixed on the table; Described artificial limb arm is connected with excitation system of trembling by rigid connection member; Described direct current motor system A comprises artificial limb arm inside/outside twist motion direct current generator and artificial limb arm inside/outside twist motion direct current generator deceleration system; Described direct current motor system B comprises artificial limb arm up/down movement direct current generator and artificial limb arm up/down movement direct current generator deceleration system; Described direct current motor system C comprises artificial limb arm rotary motion direct current generator and artificial limb arm rotary motion direct current generator deceleration system.
Described rigid connection member comprises rigid connection member A, rigid connection member B and rigid connection member C.
Inside and outside described forearm, twist mechanism comprises rigid fixation means C, slider-crank mechanism, rigidly fixes component A, rigid connection member D; Described artificial limb arm inside/outside twist motion direct current generator and artificial limb arm inside/outside twist motion direct current generator deceleration system are fixed by rigid fixation means C and workbench, by slider-crank mechanism, rigid connection member C is connected with artificial limb arm with rigid connection member B; Forearm up-down mechanism comprises cam mechanism, rigid fixation means B and conducting wire rigid-connecting device, described artificial limb arm up/down movement direct current generator is connected with artificial limb arm with rigid connection member B by cam mechanism with artificial limb arm up/down movement direct current generator deceleration system, is fixed by rigid fixation means B and workbench; Forearm rotating mechanism comprises the rigid connection member A for being connected with artificial limb, and forearm rotating mechanism is linked together by upper and lower hinge and bearing block and workbench; Described artificial limb arm rotary motion direct current generator and artificial limb arm rotary motion direct current generator deceleration system are located in rigid connection member A, and the rotation of motor directly realizes the rotary motion of artificial limb arm.
The described movement detection systems that trembles also comprises artificial limb arm inside/outside twist motion direct current generator encoder, artificial limb arm up/down movement direct current generator encoder and artificial limb arm rotary motion direct current generator encoder, is respectively used to the actual rotary position measuring artificial limb arm inside/outside twist motion motor, artificial limb arm up/down movement motor and artificial limb arm rotary motion motor;
Described artificial limb arm inertial sensor unit, is become by inclinator, gyroscope, groups of acceleration sensors, is fixed on artificial limb arm place by flexible connecting device, is used for obtaining: a) arm move up and down displacement, speed and linear acceleration; The angular displacement of b) arm medial rotation/outer motion, angular speed and linear acceleration; C) displacement of arm side-to-side movement, speed and linear acceleration;
Described three dimension acceleration sensor is made up of the nameless three dimension acceleration sensor of artificial limb forefinger three dimension acceleration sensor, artificial limb middle finger three dimension acceleration sensor and artificial limb, is respectively used to the three-dimensional acceleration value measuring forefinger, middle finger and the third finger.
Described signal transacting and control system comprise signal processing system, whistle control system, executive system and PC level computer control system.
Described signal processing system take TMS320VC5402 as 16 bit DSP signal processing systems of core, by the information of GPIO mouth Real-time Collection artificial limb finger tip three dimension acceleration sensor and artificial limb arm inertial sensor unit;
Described whistle control system take IntelPXA270 as 32 ARM10 microprocessor signals control systems of core;
Described executive system is used for the Electric Machine Control order that executive signal control system produces, Electric Machine Control utilizes the CAN communication card of SOFTING company to communicate with FAULHABERMCBL3003S/C motor driver, controls twist motion direct current generator inside and outside forearm respectively, forearm moves up and down direct current generator and forearm rotary motion direct current generator;
Described PC level computer control system, adopts the DSPACE1104 in-circuit emulation control system of MATLAB/SIMULINK and DSPACE company, communicates with whistle control system.
Twist motion direct current generator inside and outside described forearm, forearm move up and down direct current generator and forearm rotary motion direct current generator, all adopt the 2036U036B DC brushless motor of FAULHABER company; Twist motion direct current generator deceleration system inside and outside described forearm, forearm moves up and down direct current generator deceleration system, and forearm rotary motion direct current generator deceleration system all adopts Harmonic decelerator CSD-14-100-2UH.
beneficial effect of the present invention:
One, structure is simple, emulator is higher.The present invention adopts integrated structure, and mechanical device, drive system, controller etc. are all fixed on one piece of workbench, small volume, is convenient to mobile; Arm tremor simulation system can realize the twist motion of artificial limb forearm inside/outside, and for realizing artificial limb forearm up/down movement, for realizing the rotary motion of artificial limb forearm, mechanism's degree that " personalizes " is high.
Its two, excitation system of trembling adopts that little, the quality of volume is light, the DC brushless motor 2036U036B of the FAULHABER company of function admirable and Novel speed reducing CSD-14-100-2UH, and total system meets " portable " requirement.
Its three, the sensor of installation, can realize the detection of much information, and motion detection function of trembling is more comprehensive.The movement detection systems that trembles can detect the information such as the displacement of artificial limb arm motion, angular displacement, speed, angular speed, linear acceleration and angular acceleration, also can detect forefinger, middle finger, nameless three-dimensional acceleration information, the emulation for the motor message that trembles provides sufficient information.
Its four, operating aspect, safe and reliable.Three Degree Of Freedom human arm tremor signal simulation robot manipulation is simple, only needs will to collect human arm tremor signal in advance and is input in PC; In addition, in frame for movement, employing be all simple ripe mechanism, security reliability is higher; In control, design " safety pre-warning system ", guarantees the depressomotor safety and reliability that trembles.
Its five, mentality of designing is novel, application prospect is extensive.Three Degree Of Freedom human arm tremor signal simulation robot proposes to utilize robot to imitate the thinking of human arm tremor, can be generalized to the research trembled in other positions of human body, has certain reference value to " non-pharmacological " research suppressed of trembling.
They are six years old, the present invention is directed to tremble suppression strategy development and Qualify Phase at human experimentation series of problems, proposing one utilizes Robotics to imitate human arm tremor strategy, by controlling arm tremor signal simulation robot system, make it to produce and move with similar the trembling of human arm tremor, suppression strategy of avoiding trembling is applied directly on human body in immature situation.
Accompanying drawing explanation
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail.
Fig. 1 is general structure schematic diagram of the present invention;
Fig. 2 is arm tremor simulation system schematic diagram of the present invention;
The structure for amplifying schematic diagram that Fig. 2 (a) is twist mechanism inside and outside forearm in Fig. 2 11;
Fig. 2 (b) is the structure for amplifying schematic diagram of forearm up-down mechanism 12 in Fig. 2;
Fig. 2 (c) is the structure for amplifying schematic diagram of forearm rotating mechanism 13 in Fig. 2;
Fig. 3 is the detection system schematic diagram that trembles of the present invention;
Fig. 4 is signal transacting of the present invention and control system schematic diagram;
Fig. 5 is system operational flow diagram of the present invention.
Wherein, 000 is workbench, 100 is arm tremor simulation system, 101 is artificial limb arm, 102 is flexible connecting device, 103 is rigid connection member A, 104 is upper hinge, 105 is lower hinge, 106 is bearing block, 107 is rigid fixation means A, 108 is cam mechanism, 109 is rigid fixation means B, 110 is rigid fixation means C, 111 is slider-crank mechanism, 112 for rigidly fixing component A, 113 is rigid connection member B, 114 is rigid connection member C, 115 is rigid connection member D, 116 is conducting wire rigid-connecting device, 200 is excitation system of trembling, 201 is artificial limb arm rotary motion direct current generator, 202 is artificial limb arm rotary motion direct current generator deceleration system, 203 is artificial limb arm inside/outside twist motion direct current generator, 204 is artificial limb arm inside/outside twist motion direct current generator deceleration system, 205 is artificial limb arm up/down movement direct current generator, 206 is artificial limb arm up/down movement direct current generator deceleration system.300 is the movement detection systems that trembles, and 301 is artificial limb arm inertial sensor unit; 302 is artificial limb forefinger three dimension acceleration sensor, and 303 is artificial limb middle finger three dimension acceleration sensor, and 304 is the nameless three dimension acceleration sensor of artificial limb; 305 is artificial limb arm rotary motion direct current generator encoder, and 306 is artificial limb arm inside/outside twist motion direct current generator encoder, and 307 is artificial limb arm up/down movement direct current generator encoder.400 is signal transacting and control system, and 401 is signal processing system, and 402 is whistle control system, and 403 is executive system, and 404 is PC level computer control system, and 11 is twist mechanism inside and outside forearm, and 12 is forearm up-down mechanism, and 13 is forearm rotating mechanism.
Detailed description of the invention
As shown in Figure 1 and Figure 2, the Three Degree Of Freedom human arm tremor signal simulation robot in the present invention comprises arm tremor simulation system 100, excitation system of trembling 200, movement detection systems 300, signal transacting and control system 400 of trembling.In order to make the motion of trembling of the more closing to reality human arm of trembling of emulated robot, adopting artificial limb to simulate the arm of human body, there is higher authenticity.
Arm tremor simulation system 100: comprise workbench 000, twist mechanism 11, forearm up-down mechanism 12 and forearm rotating mechanism 13 inside and outside the artificial limb arm 101 be located on workbench, forearm; Artificial limb arm 101 is connected with excitation system 200 of trembling with rigid connection member C114 by rigid connection member A103, rigid connection member B113.
As shown in Fig. 2 and Fig. 2 (a), inside and outside forearm, twist mechanism 11 comprises rigid fixation means C110, and slider-crank mechanism 111 rigidly fixes component A112, rigid connection member D115; The direct current motor system of forearm up/down movement is made up of artificial limb arm up/down movement direct current generator 203 and artificial limb arm up/down movement direct current generator deceleration system 204, both are fixed by rigid fixation means C110 and workbench 000, by slider-crank mechanism 111, rigid connection member D115 is connected with artificial limb arm 101 with rigid connection member B113, and slider-crank mechanism 111 drives artificial limb arm to realize its inside/outside twist motion.
As shown in Fig. 2 and Fig. 2 (b), forearm up-down mechanism 12 comprises cam mechanism 108, rigid fixation means B109, conducting wire rigid-connecting device 116, artificial limb arm up/down movement direct current generator 205 is connected with artificial limb arm 101 with rigid connection member C114 by cam mechanism 108 with artificial limb arm up/down movement direct current generator deceleration system 206, and cam mechanism 108 drives artificial limb arm 101 to realize the up/down movement of artificial limb forearm.
As shown in Fig. 2 and Fig. 2 (c), forearm rotating mechanism 13 comprises the rigid connection member A103 for being connected with artificial limb arm, artificial limb arm rotary motion direct current generator 201 and artificial limb arm rotary motion direct current generator deceleration system 202 are located in rigid connection member A103, the rotation of motor directly realizes the rotary motion of artificial limb arm, forearm rotating mechanism 13 is linked together with workbench by upper and lower hinge 104,105 and bearing block 106.
Excitation system of trembling 200 comprises the direct current motor system A for realizing the twist motion of forearm inside/outside, for realizing the direct current motor system B of forearm up/down movement, for realizing the direct current motor system C of forearm rotary motion.Direct current motor system A comprises artificial limb arm inside/outside twist motion direct current generator 203 and artificial limb arm inside/outside twist motion direct current generator deceleration system 204; Direct current motor system B comprises artificial limb arm up/down movement direct current generator 205 and artificial limb arm up/down movement direct current generator deceleration system 206; Direct current motor system C comprises artificial limb arm rotary motion direct current generator 201 and artificial limb arm rotary motion direct current generator deceleration system 202.
Artificial limb arm inside/outside twist motion direct current generator 203, artificial limb arm up/down movement direct current generator 205 and artificial limb arm rotary motion direct current generator 201, all adopt the 2036U036B DC brushless motor of FAULHABER company; Described artificial limb arm inside/outside twist motion direct current generator deceleration system 204, artificial limb arm up/down movement direct current generator deceleration system 206 and artificial limb arm rotary motion direct current generator deceleration system 202 all adopt Harmonic decelerator CSD-14-100-2UH.
As shown in Figure 3, the movement detection systems 300 that trembles is made up of artificial limb arm inertial sensor unit 301, three dimension acceleration sensor and direct current generator encoder.Direct current generator encoder comprises prosthetic hand arm inside/outside twist motion direct current generator encoder 306, artificial limb arm up/down movement direct current generator encoder 307 and artificial limb arm rotary motion direct current generator encoder 305, is respectively used to the actual rotary position measuring artificial limb arm inside/outside twist motion motor 203, artificial limb arm up/down movement motor 205 and artificial limb arm rotary motion motor 201.
Artificial limb arm inertial sensor unit 301, is become by inclinator, gyroscope, groups of acceleration sensors, is fixed on artificial limb arm place by flexible connecting device 102, is used for obtaining: a) arm move up and down displacement, speed and linear acceleration; The angular displacement of b) arm medial rotation/outer motion, angular speed and linear acceleration; C) displacement of arm side-to-side movement, speed and linear acceleration;
Three dimension acceleration sensor is made up of the nameless three dimension acceleration sensor 304 of artificial limb forefinger three dimension acceleration sensor 302, artificial limb middle finger three dimension acceleration sensor 303 and artificial limb, is respectively used to the three-dimensional acceleration value measuring forefinger, middle finger and the third finger.
Fig. 4 is signal transacting in the present invention and control system 400 schematic diagram.Signal transacting and control system 400 comprise signal processing system 401, whistle control system 402, executive system 403 and PC level computer control system 404; Signal processing system 401 take TMS320VC5402 as 16 bit DSP signal processing systems of core, by the information of each sensor of GPIO mouth Real-time Collection and each direct current generator encoder; Whistle control system 402 take IntelPXA270 as 32 ARM10 microprocessor signals control systems of core; The Electric Machine Control order that executive system 403 produces for executive signal control system 402, Electric Machine Control utilizes the CAN communication card of SOFTING company to communicate with FAULHABERMCBL3003S/C motor driver, controls artificial limb arm inside/outside twist motion direct current generator 203, artificial limb arm up/down movement direct current generator 205 and artificial limb arm rotary motion direct current generator 201 respectively; PC level computer control system 404, adopts the DSPACE1104 in-circuit emulation control system of MATLAB/SIMULINK and DSPACE company, communicates with whistle control system 402.
embodiment:
Three Degree Of Freedom human arm tremor signal simulation robot disclosed by the invention is similar to human arm tremor signal by utilizing the comprehensive effect of twist mechanism 11 inside and outside forearm, forearm up-down mechanism 12, forearm rotating mechanism 13 to produce, be fixed on artificial limb arm respectively by conducting wire rigid-connecting device, signal transacting and control system 400 are fixed on workbench 000.As shown in Figure 5, in practical operation, when the motor message be entered into PC level computer control system 404 of trembling that experimenter collects the actual patient of trembling, open robot system-step 501; Signal transacting and control system 400 start-step 502, System self-test-step 503;-the step 504 if self-inspection notes abnormalities?, then electricity-step 515 under motor, quit work-step 516; If self-inspection were normal-step 504?, then the movement detection systems 300 that trembles starts-step 505, and excitation system of simultaneously trembling 200 starts-step 509, electric system initialization-step 510; If halt instruction-step 512, then electricity-step 515 under motor, end-of-job-step 516; If not halt instruction, according to control instruction, control motor and change speed and direction-step 513, so realize twist motion inside and outside robot artificial limb arm, arm moves up and down and the rotary motion of arm arm; Robot artificial limb arm constantly changes the state-step 514 of self along with these motions, is arranged on the multiple sensors system acquisition arm motion information-step 505 of prosthetic hand, arm, step 506; Be that 16 bit DSP signal processing systems 401 of core obtain these information with TMS320VC5402, through data processing and filtering, the proper motion Signal separator of tremble motor message and the low frequency of high frequency is come, and respectively by this two signal transmission to IntelPXA270 be core 32 ARM10 microprocessor signals control systems 402 in, real-time storage and acquisition-step 507; By comparing of the signal that trembles of tremble signal and human arm reality that produces robot, produce Electric Machine Control order-step 508, the method for operation of real-time each motor of adjustment; Electric Machine Control order-step 511 that executive system 403 produces for executive signal control system 402, communicated with FAULHABERMCBL3003S/C motor driver by the CAN communication card of SOFTING company, control twist motion direct current generator, arm inside and outside artificial limb arm respectively to move up and down and arm arm rotary motion direct current generator, each joint of robot is made to produce motion direct current generator-step 512, and then change the characteristic of trembling of artificial limb arm, reach and make robot artificial limb produce the object identical with patient's arm tremor; The corresponding like this suppression strategy that trembles just can be applied in this robot, reaches this validity of the suppression strategy that trembles of checking and the object of security.
Above are only embodiments of the invention, to one skilled in the art, the present invention has multiple change and change.Allly within invention thought of the present invention and principle, make any amendment, equivalently to replace, improve, all should be included within protection scope of the present invention.
Claims (7)
1. a Three Degree Of Freedom human arm tremor motion simulation machine people, is characterized in that: comprise arm tremor simulation system (100), excitation system of trembling (200), the movement detection systems that trembles (300), signal transacting and control system (400); Arm tremor simulation system (100) comprises workbench (000), twist mechanism (11), forearm up-down mechanism (12) and forearm rotating mechanism (13) inside and outside the artificial limb arm (101) be located on workbench, forearm; Excitation system of trembling (200) comprises the direct current motor system A for realizing the twist motion of forearm inside/outside, for realizing the direct current motor system B of forearm up/down movement and the direct current motor system C for realizing forearm rotary motion; The movement detection systems (300) that trembles comprises three dimension acceleration sensor and artificial limb arm inertial sensor unit (301), and described three dimension acceleration sensor is arranged on artificial limb finger, and described artificial limb arm inertial sensor unit (301) is arranged on artificial limb arm; Signal transacting and control system (400) are fixed on workbench (000); Described artificial limb arm is connected with excitation system of trembling (200) by rigid connection member; Described direct current motor system A comprises artificial limb arm inside/outside twist motion direct current generator (203) and artificial limb arm inside/outside twist motion direct current generator deceleration system (204); Described direct current motor system B comprises artificial limb arm up/down movement direct current generator (205) and artificial limb arm up/down movement direct current generator deceleration system (206); Described direct current motor system C comprises artificial limb arm rotary motion direct current generator (201) and artificial limb arm rotary motion direct current generator deceleration system (202).
2. Three Degree Of Freedom human arm tremor motion simulation machine people according to claim 1, is characterized in that: described rigid connection member comprises rigid connection member A(103), rigid connection member B(113) and rigid connection member C(114).
3. Three Degree Of Freedom human arm tremor motion simulation machine people according to claim 1, it is characterized in that: inside and outside described forearm, twist mechanism (11) comprises rigid fixation means C(110), slider-crank mechanism (111), rigidly fix component A(112), rigid connection member D(115); Described artificial limb arm inside/outside twist motion direct current generator (203) and artificial limb arm inside/outside twist motion direct current generator deceleration system (204) are by rigid fixation means C(110) fix with workbench (000), by slider-crank mechanism (111), rigid connection member C(115) with rigid connection member B(113) be connected with artificial limb arm (101); Forearm up-down mechanism (12) comprises cam mechanism (108), rigid fixation means B(109) and conducting wire rigid-connecting device (116); Described artificial limb arm up/down movement direct current generator (205) and artificial limb arm up/down movement direct current generator deceleration system (206) are by cam mechanism (108) and rigid connection member B(114) be connected, by rigid fixation means B(109 with artificial limb arm (101)) fix with workbench (000); Forearm rotating mechanism (13) comprises the rigid connection member A(103 for being connected with artificial limb), forearm rotating mechanism (13) is linked together with workbench (000) by upper and lower hinge (104,105) and bearing block (106); Rigid connection member A(103 is located in described artificial limb arm rotary motion direct current generator (201) and artificial limb arm rotary motion direct current generator deceleration system (202)) in, the rotation of motor directly realizes the rotary motion of artificial limb arm.
4. Three Degree Of Freedom human arm tremor motion simulation machine people according to claim 1, it is characterized in that: the described movement detection systems that trembles (300) also comprises artificial limb arm inside/outside twist motion direct current generator encoder (306), artificial limb arm up/down movement direct current generator encoder (307) and artificial limb arm rotary motion direct current generator encoder (305), be respectively used to the actual rotary position measuring artificial limb arm inside/outside twist motion motor (203), artificial limb arm up/down movement motor (205) and artificial limb arm rotary motion motor (201);
Described artificial limb arm inertial sensor unit (301), is become by inclinator, gyroscope, groups of acceleration sensors, is fixed on artificial limb arm place by flexible connecting device (102), is used for obtaining: a) arm move up and down displacement, speed and linear acceleration; The angular displacement of b) arm medial rotation/outer motion, angular speed and linear acceleration; C) displacement of arm side-to-side movement, speed and linear acceleration;
Described three dimension acceleration sensor is made up of the nameless three dimension acceleration sensor (304) of artificial limb forefinger three dimension acceleration sensor (302), artificial limb middle finger three dimension acceleration sensor (303) and artificial limb, is respectively used to the three-dimensional acceleration value measuring forefinger, middle finger and the third finger.
5. Three Degree Of Freedom human arm tremor motion simulation machine people according to claim 1, is characterized in that: described signal transacting and control system (400) comprise signal processing system (401), whistle control system (402), executive system (403) and PC level computer control system (404).
6. Three Degree Of Freedom human arm tremor motion simulation machine people according to claim 5, it is characterized in that: described signal processing system (401) take TMS320VC5402 as 16 bit DSP signal processing systems of core, by the information of GPIO mouth Real-time Collection artificial limb finger tip three dimension acceleration sensor and artificial limb arm inertial sensor unit (301);
Described whistle control system (402) take IntelPXA270 as 32 ARM10 microprocessor signals control systems of core;
The Electric Machine Control order that described executive system (403) produces for executive signal control system (402), Electric Machine Control utilizes the CAN communication card of SOFTING company to communicate with FAULHABERMCBL3003S/C motor driver, controls twist motion direct current generator (203) inside and outside forearm respectively, forearm moves up and down direct current generator (205) and forearm rotary motion direct current generator (201);
Described PC level computer control system (404), adopts the DSPACE1104 in-circuit emulation control system of MATLAB/SIMULINK and DSPACE company, communicates with whistle control system (402).
7. Three Degree Of Freedom human arm tremor motion simulation machine people according to claim 1, it is characterized in that: described forearm inside/outside twist motion direct current generator (203), forearm up/down movement direct current generator (205) and forearm rotary motion direct current generator (201), all adopt the 2036U036B DC brushless motor of FAULHABER company; Described forearm inside/outside twist motion direct current generator deceleration system (204), forearm up/down movement direct current generator deceleration system (206), forearm rotary motion direct current generator deceleration system (202) all adopts Harmonic decelerator CSD-14-100-2UH.
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| CN108095727B (en) * | 2017-11-08 | 2020-09-15 | 上海交通大学 | Robot glove for inhibiting pathological tremor based on magnetorheological fluid |
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| CN103906483A (en) * | 2011-09-30 | 2014-07-02 | 林克斯设计公司 | System and method for stabilizing unintentional muscle movements |
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| JPH0966476A (en) * | 1995-08-29 | 1997-03-11 | Hitachi Ltd | Touch regenerating apparatus and manipulator system using same |
| US10086509B2 (en) * | 2013-03-14 | 2018-10-02 | Elytra Technologies Llc | Device and method for controlled motion of a tool |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US6695794B2 (en) * | 1999-03-02 | 2004-02-24 | The Charles Stark Draper Laboratory, Inc. | Active tremor control system |
| CN201505138U (en) * | 2009-08-04 | 2010-06-16 | 中国科学院合肥物质科学研究院 | Wear-type robot for detecting and preventing human arm tremor |
| CN103906483A (en) * | 2011-09-30 | 2014-07-02 | 林克斯设计公司 | System and method for stabilizing unintentional muscle movements |
| CN102697589A (en) * | 2012-05-08 | 2012-10-03 | 哈尔滨工业大学 | Tremor suppressing device for pathological trembles |
| CN102990669A (en) * | 2012-12-07 | 2013-03-27 | 哈尔滨理工大学 | Meal-assistance robot capable of suppressing tremor of hands and tremor-suppressing control method |
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